CN102701076B - Control device and control method for six-degree-of-freedom lifting cooperative parallel-flexible-cable equipment - Google Patents

Abstract

A six-degree-of-freedom lifting and hoisting cooperative flexible cable parallel configuration equipment control device and method, which belong to the lifting and hoisting control device and method. The device includes hoisting and hoisting cooperative flexible cable parallel configuration equipment, a main control industrial computer, a measurement industrial computer, a communication device, a programmable logic controller, a sensor and a lifting equipment controller, and the main control industrial computer communicates with the user through the communication device. The programmable logic controller is connected, the programmable logic controller is connected with the controllers of each lifting equipment, each lifting equipment is connected with the hoisting object through the hook, the sensor is installed on the hoisting object, the sensor is connected with the measuring industrial computer, and the measuring industrial computer It is connected with the main control industrial computer through the communication device. Advantages: It can control three sets of hoisting equipment controllers to achieve high-precision movement of six degrees of freedom in hoisting; the system responds quickly, has strong information processing capabilities, and good reliability; it can monitor the tension of the cables, as well as the obstacle avoidance and Protects against impact and improves movement flexibility, stability and precision.

Description

Control device and method for six-degree-of-freedom hoisting cooperative flexible cable parallel configuration equipment

technical field

       The invention relates to a hoisting and hoisting control device and method, and a six-degree-of-freedom hoisting and hoisting cooperative flexible cable parallel configuration equipment control device and method.

Background technique

Lifting equipment is an important tool for factories, railways, ports and other departments to realize the mechanization of material handling. In recent years, affected by the rapid growth of the world economy and the continuous expansion of world trade, the equipment for handling materials has developed towards large-scale and heavy-duty large-scale development. The hoisting environment has become increasingly harsh and complex, and the requirements for hoisting technology and hoisting equipment are also increasing. come higher. However, due to the limitations of coordination ability and load capacity, a single lifting device cannot fully meet the current requirements. The cooperative hoisting operation of multiple lifting equipment is to complete the material operation task through the coordinated change of the length of the flexible cable controlled by each lifting equipment, which can well make up for the limitation of the coordination ability and load capacity of a single lifting equipment. The characteristics of equipment operation It is similar to a parallel mechanism, so it can be regarded as a kind of space cooperation flexible cable parallel configuration equipment.

Space six-degree-of-freedom hoisting collaborative flexible cable parallel configuration equipment has important application value, especially in the field of hoisting large-scale equipment components in the construction of airports, roads and bridges. However, the cooperative flexible cable parallel configuration equipment system has the characteristics of large inertia, multiple input and multiple output, nonlinearity, etc., and is affected by the parameter disturbance of the system model and the influence of external disturbances such as random wind in the movement of heavy objects, so that during the cooperation process, Object movement flexibility, stability and precision are not perfect enough.

Contents of the invention

The object of the present invention is to provide a six-degree-of-freedom hoisting and hoisting cooperative flexible cable parallel configuration equipment control device and method to solve the problem of insufficient movement flexibility, stability and accuracy of objects during the cooperation process of multiple hoisting and hoisting machines Perfect question.

The object of the present invention is achieved in this way: the six-degree-of-freedom hoisting and hoisting cooperative flexible cable parallel configuration equipment control device includes lifting and hoisting cooperative flexible cable parallel configuration equipment, a main control industrial computer, a measurement industrial computer, a communication device, Programmable logic controller, sensors and lifting equipment controllers, the main control industrial computer is connected with the programmable logic controller through the communication device, the programmable logic controller is connected with each lifting equipment controller, and each lifting equipment is connected through the hook It is connected with the hoisting object, the sensor is installed on the hoisting object, the sensor is connected with the measuring industrial computer, and the measuring industrial computer is connected with the main control industrial computer through the communication device.

The lifting equipment controller has three groups, and each group has the same structure, including a lifting equipment control circuit and a photoelectric encoder. The output terminal of the programmable logic controller is connected with the lifting equipment control circuit, and the output of the photoelectric encoder The terminal is connected with the input terminal of the programmable logic controller; the lifting equipment control circuit includes a lifting control circuit, a slewing control circuit, a luffing control circuit and a telescopic control circuit.

The sensor includes a photoelectric encoder, a grating displacement sensor, a gravitational acceleration sensor, a load cell, a load cell and a proximity sensor; there are multiple photoelectric encoders, which are respectively installed in the hoisting circuit and the rotary circuit of each lifting device. On the motor; there are multiple grating displacement sensors, which are respectively installed on the oil cylinders of the luffing circuit and the telescopic circuit; 3 grating displacement sensors and 1 triaxial gravity acceleration sensor are installed on the hoisting object, and the load cell is installed on the hoisting object At the same time, a proximity sensor is installed on the hoisting object, and an identical load cell is installed on each of the three flexible cables.

Described control method comprises the steps:

1. When the hoisting and hoisting cooperative soft cable parallel configuration equipment is in motion, the grating displacement sensor, three-axis gravity acceleration sensor, load cell and proximity sensor installed on the hoisting object, as well as the force measuring device installed on the three flexible cables The sensor transmits the measured data to the measuring industrial computer;

2. The measurement industrial computer processes the measurement data in real time and sends the measurement data to the main control industrial computer through the communication device;

3. The main control industrial computer analyzes and processes the received signals, completes the human-computer interaction function and the mechanical calculation of the hoisting and hoisting collaborative flexible cable parallel configuration equipment, and the control system solves the calculation to obtain control instructions, which are transmitted to Programmable logic controller; the photoelectric encoder installed on the motor of the lifting circuit and the slewing circuit measures the rotation angle and speed signal, and the programmable logic controller processes the signal, and controls the hydraulic motor speed with the electro-hydraulic proportional adjustment. The speed valve interface forms the speed feedback control to ensure the constant speed of the hydraulic motor; the grating displacement sensor installed on the hydraulic cylinder of the luffing circuit and the telescopic circuit measures the displacement and speed signals, and the programmable logic controller processes the signals and communicates with them. The interface of the electro-hydraulic proportional speed regulating valve that controls the speed of the hydraulic cylinder constitutes a speed feedback control to ensure a constant speed of the hydraulic cylinder;

4. The programmable logic controller analyzes the received control instructions, calculates the control signals, and sends the signals to the lifting control circuit, slewing control circuit, luffing control circuit and telescopic control circuit of each lifting equipment to complete real-time control Three hoisting equipment perform coordinated actions of slewing, luffing, and telescopic movement, and three flexible cables perform coordinated movements of rope retraction and rope release, thereby realizing high-precision movement of space six-degree-of-freedom hoisting and hoisting cooperative flexible cable parallel configuration equipment;

5. The main control industrial computer, the programmable logic controller, and the measurement industrial computer communicate with each other in the form of a serial bus to form a communication network system. the

Beneficial effects: due to the adoption of the above scheme, the control device of the parallel configuration equipment for hoisting and hoisting with six degrees of freedom in space can be realized; The main control industrial computer at the operation management level, the programmable logic controller at the hoisting object control level, and the measurement industrial computer responsible for real-time measurement and feedback signals, the lifting equipment controller, and the communication device. This control mode combines programmable logic The controller has the characteristics of high control precision, strong anti-interference ability, good reliability, high openness of industrial computer, strong information processing ability, outstanding advantages of real-time adjustment, and good versatility; the measurement system centered on industrial computer, adopts data The combination of collection and sensors can complete the whole process of testing to the greatest extent, which can not only realize the detection of signals, but also analyze and process the obtained signals; it can also determine the The cable tension of the hoisting and hoisting cooperative flexible cable parallel configuration equipment, the weight of the hoisting object, and the obstacle avoidance and impact prevention for the movement of the hoisting object are used to achieve flexible output movement; thus the lifting and hoisting cooperative flexible cable parallel structure can be improved. Type equipment movement flexibility, stability and precision have reached the purpose of the present invention.

Advantages: The six-degree-of-freedom hoisting and hoisting cooperative flexible cable parallel configuration equipment control device and method can effectively control the three sets of hoisting equipment controllers to realize the six-degree-of-freedom high-precision movement of the hoisting and hoisting cooperative flexible cable parallel configuration equipment space ;Adopt the distributed control mode composed of main control industrial computer, measuring industrial computer, programmable logic controller and communication device, which has fast system response, strong information processing ability and good reliability; the system adopts force sensor, weighing The sensor and the proximity sensor can monitor the tension of the cable, the weight of the hoisting object, and the obstacle avoidance and impact prevention of the hoisting object movement, thus greatly improving the movement flexibility, stability and precision. the

Description of drawings

Fig. 1 is a schematic block diagram of the control device of the space six-degree-of-freedom hoisting cooperative flexible cable parallel configuration equipment of the present invention.

Fig. 2 is a general flow chart of the control method for the space six-degree-of-freedom hoisting cooperative flexible cable parallel configuration equipment of the present invention.

Fig. 3 is a parallel configuration equipment diagram of the space six-degree-of-freedom hoisting and hoisting coordinated flexible cables.

Detailed ways

The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment.

Embodiment 1: The six-degree-of-freedom hoisting and hoisting cooperative flexible cable parallel configuration equipment control device includes lifting and hoisting cooperative flexible cable parallel configuration equipment, a main control industrial computer, a measurement industrial computer, a communication device, and a programmable logic controller , sensors and hoisting equipment controllers, the main industrial computer is connected to the programmable logic controller through the communication device, the programmable logic controller is connected to each hoisting equipment controller, each hoisting equipment is connected to the hoisting object through the hook, A sensor is installed on the hoisting object, the sensor is connected with the measuring industrial computer, and the measuring industrial computer is connected with the main control industrial computer through the communication device.

There are three groups of the lifting device controllers, and each group has the same structure, including a lifting device control circuit, a photoelectric encoder, a grating displacement sensor, an output terminal of the programmable logic controller is connected with the lifting device control circuit, a photoelectric The output ends of the encoder and the grating displacement sensor are connected with the input end of the programmable logic controller; the lifting equipment control circuit includes a lifting control circuit, a slewing control circuit, an amplitude control circuit and a telescopic control circuit.

The sensor includes a photoelectric encoder, a grating displacement sensor, a gravitational acceleration sensor, a load cell, a load cell and a proximity sensor; there are multiple photoelectric encoders, which are respectively installed in the hoisting circuit and the rotary circuit of each lifting device. On the motor; there are multiple grating displacement sensors, which are respectively installed on the oil cylinders of the luffing circuit and the telescopic circuit; 3 grating displacement sensors and 1 triaxial gravity acceleration sensor are installed on the hoisting object, and the load cell is installed on the hoisting object At the same time, a proximity sensor is installed on the hoisting object, and an identical load cell is installed on each of the three flexible cables.

Described control method comprises the steps:

1. When the hoisting and hoisting cooperative soft cable parallel configuration equipment is in motion, the grating displacement sensor, three-axis gravity acceleration sensor, load cell and proximity sensor installed on the hoisting object, as well as the force measuring device installed on the three flexible cables The sensor transmits the measured data to the measuring industrial computer;

2. The measurement industrial computer processes the measurement data in real time and sends the measurement data to the main control industrial computer through the communication device;

3. The main control industrial computer analyzes and processes the received signals, completes the human-computer interaction function and the mechanical calculation of the hoisting and hoisting collaborative flexible cable parallel configuration equipment, and the control system solves the calculation to obtain control instructions, which are transmitted to Programmable logic controller; the photoelectric encoder installed on the motor of the lifting circuit and the slewing circuit measures the rotation angle and speed signal, and the programmable logic controller processes the signal, and controls the hydraulic motor speed with the electro-hydraulic proportional adjustment. The speed valve interface forms the speed feedback control to ensure the constant speed of the hydraulic motor; the grating displacement sensor installed on the hydraulic cylinder of the luffing circuit and the telescopic circuit measures the displacement and speed signals, and the programmable logic controller processes the signals and communicates with them. The interface of the electro-hydraulic proportional speed regulating valve that controls the speed of the hydraulic cylinder constitutes a speed feedback control to ensure a constant speed of the hydraulic cylinder;

4. The programmable logic controller analyzes the received control instructions, calculates the control signals, and sends the signals to the lifting control circuit, slewing control circuit, luffing control circuit and telescopic control circuit of each lifting equipment to complete real-time control Three hoisting equipment perform coordinated actions of slewing, luffing, and telescopic movement, and three flexible cables perform coordinated movements of rope retraction and rope release, thereby realizing high-precision movement of space six-degree-of-freedom hoisting and hoisting cooperative flexible cable parallel configuration equipment;

5. The main control industrial computer, the programmable logic controller, and the measurement industrial computer communicate with each other in the form of a serial bus to form a communication network system.

The communication device uses a dedicated communication RS-232/RS-485 converter for communication between the main control industrial computer, the programmable logic controller and the measurement industrial computer. The main control industrial computer is responsible for various functions such as trajectory planning, human-computer interaction, system maintenance, data storage, processing, display, optimization, etc. The programmable logic controller is responsible for the coordinated control of the lifting, turning, luffing and telescopic actions of the three lifting equipment. The measurement industrial computer is responsible for the collection, processing, and operation status information of the measurement data to be transmitted to the main control industrial computer in real time. Setup, program download and data transfer during operation.

The sensor measures the signal required by the hoisting and hoisting cooperative soft cable parallel configuration equipment, and transmits the signal to the measurement industrial computer, which processes the measurement data in real time and sends the measurement data to the main control industrial computer through the communication device , the main control industrial computer analyzes and processes the received signal, forms a control instruction and transmits it to the programmable logic controller through the communication device, the programmable logic controller analyzes the control instruction, controls each lifting equipment controller to coordinate each crane The movement of heavy equipment realizes the coordinated movement of hoisted objects, and then constitutes a large closed-loop transmission process.

In the space six-degree-of-freedom hoisting and hoisting flexible cable parallel configuration equipment control method, the grating displacement sensor and the three-axis gravity acceleration sensor installed on the hoisting object when the hoisting object moves , weighing sensor and proximity sensor, and load cells installed on three flexible cables, all sensors will measure the signal and transmit the required signal to the measurement industrial computer; the measurement industrial computer processes the measurement data in real time and passes the communication device Send the measurement data to the main control industrial computer; the main control industrial computer analyzes and processes the received signals and completes the human-computer interaction function, the mechanical calculation of the hoisting and hoisting collaborative flexible cable parallel configuration equipment, the control system solution, and the formation of control instructions It is transmitted to the programmable logic controller through the communication device; the programmable logic controller also accepts the angle and speed signals and the variable amplitude of the hydraulic motor measured by the photoelectric encoder matched with the hydraulic motor of the hoisting and slewing circuits of each lifting equipment. The grating displacement sensor matching the hydraulic cylinder of the telescopic circuit measures the displacement and speed signals of the hydraulic cylinder, and forms a position feedback control with the photoelectric encoder interface fed back to the programmable logic controller; and controls the speed of the hydraulic motor and hydraulic cylinder. The interface of electro-hydraulic proportional speed regulating valve constitutes speed feedback control to ensure constant speed of hydraulic motor and hydraulic cylinder.

The programmable logic controller analyzes the received control instructions, calculates the control signals, and sends the signals to the hoisting, turning, luffing and telescopic control circuits of each lifting equipment to complete the real-time control of the three lifting equipments for slewing , luffing, telescopic coordinated actions, and three flexible cables for rope retraction and rope release coordination actions, and then realize the high-precision movement of space six-degree-of-freedom hoisting, hoisting, flexible cable parallel configuration equipment; main control industrial computer, programmable logic control The controller and the measuring industrial computer communicate with each other in the form of a serial bus to form a communication network system.

Claims (1)

1. a six degree of freedom hoisting and hanging cooperation flexible cable parallel architecture equipment control device: comprise hoisting and hanging cooperation flexible cable parallel architecture equipment, it is characterized in that: also comprise master control industrial computer, measure industrial computer, communicator, programmable logic controller (PLC), sensor and weight-lifting equipment controller, master control industrial computer is connected with programmable logic controller (PLC) by communicator, programmable logic controller (PLC) is connected with each weight-lifting equipment controller, each weight-lifting equipment is connected with lifting object by suspension hook, sensor is installed on lifting object, sensor is connected with measurement industrial computer, measuring industrial computer is connected with master control industrial computer by communicator.

Described weight-lifting equipment controller has three groups, each group structure is identical, comprise weight-lifting equipment control circuit, photoelectric encoder, grating displacement sensor, the mouth of programmable logic controller (PLC) is connected with weight-lifting equipment control circuit, and photoelectric encoder and the mouth of grating displacement sensor and the input end of programmable logic controller (PLC) are connected; Described weight-lifting equipment control circuit comprises lift control circuit, revolution control circuit, luffing control circuit and extension and contraction control circuit.

Described sensor comprises photoelectric encoder, grating displacement sensor, Gravity accelerometer, force transducer, LOAD CELLS and proximity transducer; Photoelectric encoder has multiple, is arranged on respectively on the motor of hoisting circuit, rotary loop of each weight-lifting equipment; Grating displacement sensor has multiple, is arranged on respectively on the oil cylinder in luffing loop and flexible loop; 3 grating displacement sensors and 1 three axle Gravity accelerometer are installed on lifting object, and LOAD CELLS is arranged on lifting object, proximity transducer is installed on lifting object simultaneously, an identical force transducer of each installation in three flexible cables.

2 .right to use requires a six degree of freedom hoisting and hanging cooperation flexible cable parallel architecture equipment control method for device described in 1, it is characterized in that: comprise the steps:

(1) when, hoisting and hanging cooperation flexible cable parallel architecture equipment hoisting object is moved, be arranged on grating displacement sensor, three axle Gravity accelerometers, LOAD CELLS and proximity transducer on lifting object, and the force transducer of installing in three flexible cables, the data that record are sent to measurement industrial computer;

(2), measure the real-time manipulate measurement data of industrial computer and by communicator, take off data sent to master control industrial computer;

(3), master control industrial computer carries out analyzing and processing to the received signal, finishing man-machine interaction function and hoisting and hanging cooperation flexible cable parallel architecture equipment Mechanics Calculation, control system is resolved, and obtains control command, and control command sends programmable logic controller (PLC) to by communicator; The photoelectric encoder being arranged on the motor of hoisting circuit, rotary loop records corner and tach signal, programmable logic controller (PLC) is processed this signal, and constant to guarantee hydraulic motor rotary speed with the electrohydraulic proportional velocity regulating valve interface formation speed feedback control of controlling hydraulic motor rotary speed; The grating displacement sensor being arranged on the hydraulic actuating cylinder in luffing loop, flexible loop records displacement and speed signal, programmable logic controller (PLC) is processed this signal, and forms speed feedback control to guarantee that hydraulic cylinder speed is constant with the electrohydraulic proportional velocity regulating valve interface of controlling hydraulic cylinder speed;

(4), programmable logic controller (PLC) is analyzed the control command of accepting, calculate control signal, respectively signal is sent to each weight-lifting equipment lift control circuit, revolution control circuit, luffing control circuit and extension and contraction control circuit, complete that three weight-lifting equipments of real-time control turn round, luffing, flexible coordination and three flexible cables carry out rope closing and put rope coordination, and then the high-precision motion of implementation space six degree of freedom hoisting and hanging cooperation flexible cable parallel architecture equipment;

(5), communicate in universal serial bus mode between master control industrial computer, programmable logic controller (PLC), measurement industrial computer, form a communications network system.

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